Based on variable gain deviation coupling and adaptive backstepping sliding mode control multi-motor synchronous control
WANG Lei
ZHAO Xi-mei
JIN Hong-yan
Abstract：Aiming at the problems of poor tracking performance and low synchronization accuracy in multi-motor systems,a synchronization control method based on variable gain bias coupling(VGDC)and adaptive backstepping sliding mode(ABSM)is proposed in this paper.Firstly,due to the problem of poor tracking performance of a single motor caused by uncertain elements such as parametric variation,external perturbation,and load variation,an ABSM control algorithm is designed,and the stability and convergence of the method are proved by constructing Lyapunov functions.Then,in order to conquer the shortcoming that the fixed coupling gain cannot change with the load or disturbance,thereby reducing the performance of multi-motor synchronization control,actual time moment of inertia of the motor is obtained by using the model reference identification method(MRIM),which is sent to the speed compensator to obtain the variable coupling gain.Hereby,the deviation coupled control structure is improved to enhance the synchronization function of the multi-motor system.In the end,the experimental results show that the proposed algorithm can effectively improve the synchronous control effect of multi-motor and has important practical application value for improving the coordinated control accuracy of multi-motor.
Keywords：multi-motor synchronous controldeviation couplingvariable gainspeed compensationadaptive back-stepping sliding mode control
Publication Date：2025-06-30
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 1248-1256 )